EP0487622B1 - Stabilisierungssystem mit inertia - Google Patents

Stabilisierungssystem mit inertia Download PDF

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Publication number
EP0487622B1
EP0487622B1 EP90913263A EP90913263A EP0487622B1 EP 0487622 B1 EP0487622 B1 EP 0487622B1 EP 90913263 A EP90913263 A EP 90913263A EP 90913263 A EP90913263 A EP 90913263A EP 0487622 B1 EP0487622 B1 EP 0487622B1
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EP
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Prior art keywords
rotor
angular
oscillogyro
driver
rotational plane
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EP90913263A
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English (en)
French (fr)
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EP0487622A1 (de
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Rolf STRÖMBERG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/42—Rotary gyroscopes for indicating rate of turn; for integrating rate of turn
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course

Definitions

  • the present invention relates to an inertial stabilizing system to be used preferably in connection with image stabilization for hand-held optical instruments.
  • An ultralight oscillogyro functions as a reference element by which the angular position in inertial space is detected, and an electromechanical control system causes a gimbaled part of the optics to assume substantially the same angular position in space as that assumed by the rotational plane of the rotor of the oscillogyro.
  • the oscillogyro is modified for a widened angular range, and the damping of the gyro is utilized for obtaining directly the possibility of target tracking.
  • a third possible principle (see for example WO-A-8601307) to apply in order to obtain best stability is to refrain from connecting the gyro mechanically to the stabilized part, but to detect instead the position of the gyro by means of electronics so that signals are generated which are then used to urge, via small electromechanical actuators, the gimbaled part towards stability.
  • the expected advantage of this solution is i.a. that it ought to be possible to design the gyro much smaller, resulting in reduced total weight and volume, but up to now it would seem that advancements have been modest in practice; in few if any of the hand-held image-stabilizing instruments on the market at present this principle is applied.
  • the problem of reducing starting time, weight, power consumption and complexity does not seen to have been satisfactorily solved, for which reason the potential advantages appear not to have justified selection of this concept.
  • the present invention is a representative of this third category.
  • An ultralight rotor in an oscillogyro is dimensioned, in a preferred embodiment, to behave with respect to its angular position in space as the gimbaled optical part in an image stabilized telescope should do, and this gimbaled optical part is then caused, by means of a simple electromechanical control system, to maintain the same angular position in space as that assumed by the rotor.
  • the starting time is so short, about 1/10 second, that the gimbaled optical part can be mechanically released at the same time as the oscillogyro is started, which eliminates the delays, often unacceptable, of 15-60 s mentioned above.
  • the power generation is so low that a very small drive motor and small, batteries can be used which reduces weight and volume of the complete image stabilizing instrument.
  • No precessing mechanism is necessary and, also, no nutation problems exist.
  • No heavy, complicated or bulky components are included and fabrication can take place without time consuming adjustments.
  • detection of the position of the rotor can be carried out opto--electronically by means of simple zero detectors, which eliminates the demand for good detector linearity.
  • FIG. 1 shows the comprehensive mechanics of a control system according to the invention.
  • Figs. 2a and 2b show a rotor start centering mechanism
  • Fig. 3 illustrates shock protection of the oscillogyro
  • Fig. 4 shows, in elevation, the gyro rotated an angle ⁇
  • Fig. 5a shows a block diagram of the electronic system
  • Fig. 5b shows an associated voltage diagram
  • Fig. 6 shows an end view of the oscillogyro
  • Fig. 7 illustrates an alternative method of rotor detection.
  • Fig. 8 shows the associated block diagram
  • Fig. 9 shows i.a. an alternative gyro rotor and an alternative rotor case
  • Fig. 10 shows a curve of the step response of the rotor
  • Fig. 11 shows an end view of the rotor 1.
  • FIG. 1 A motor 5, motor shaft 4, leaf spring 3, torsion wire 2 an a rotor 1 constitute (with a minor exception, later to be described) an oscillogyro, which is generally conventional.
  • oscillogyro For a description of the oscillogyro principles reference is made to The Journal of Mechanical Engineering Science 1967, Vol. 9, No. 1, pp 55-61,by R Whalley, M J Holgate and L Maunder, "The Oscillogyro".
  • the gimbaled optical part 19 is illustrated in Fig. 1 in the form of a cylinder but it is to be understood that this optical part 19 corresponds to the stabilized part in an image-stabilized instrument.
  • the appearance of this part and what optics it carries is of no consequence to the present invention. Every completely stabilized optical part in an image stabilized instrument defines an optical line-of-sight, which is found in Fig. 1 as a line 35.
  • the motor 5 is secured to the casing (not shown) of the instrument and thus it follows the movements of the casing.
  • a rotor 1 rotating in a plane which, on a short time basis, is inertially stabilized and thus isolated from higher frequencies of turning movements of the instrument casing about all axes orthogonal to motor shaft 4.
  • the gimbaled optical part 19 is movable by way of gimbal 20 a small angle, about ⁇ 5 degrees, in relationship to the instrument casing about gimbal axes 55 and 56 and thus about all axes orthogonal to the optical line-of-sight 35 of the instrument.
  • gimbal 20 does not allow part 19 to rotate about line-of-sight 35 in relation to the instrument casing.
  • the gimbaled optical part 19 be mechanically locked to the instrument casing in a position where the optical line-of-sight 35 is parallel with motor shaft 4. This position is shown in Fig. 1.
  • optical part 19 is disengaged but locked by way of an electromechanical control system to the angular position in the inertial space assumed by the rotational plane of rotor 1. Consequently the optical part, as the rotor, is inertially stabilized on short time basis.
  • the stabilized optical part 19 should be statically balanced on its bearings.
  • Rotor 1 has the form of a bar 15 having a length of the order of 40 mm. On this rotor bar two thin plates 8 and 9 are secured. Rotor 1 is secured to the thin torsion wire 2 which in turn is secured to and maintained tensioned by the bent leaf spring 3. On its central point spring 3 is secured to motor shaft 4. The case 6, containing all rotating parts, is secured to motor shaft 4. In practice rotor 1 need not have a greater moment of inertia than 1.10 ⁇ 7 kgm2, measured about the axis represented by torsion wire 2.
  • Case 6 encloses all gyro components, which is desirable as otherwise the surrounding air would have a negative effect on the stability of the ultralight rotor 1 by the turbulence which would have arisen. It is obvious that the air surrounding rotor 1 within case 6 participates in the rotation and is not turbulent in any disturbing way thanks to case 6. However, case 6 should not be completely tight; a small hole 7 sees to it that there can be no pressure difference within and without case 6 to deform the case. This hole should be located as shown in Fig. 1, thus in or near the longitudinal axis of drive shaft 4, an arrangement which does not cause any air turbulence within case 6.
  • case 6 does not add too much rotational inertia to the rotating parts, which would increase unnecessarily the starting time of motor 5. A low rotational inertia of case 6 will be attained if thin plastics are used.
  • rotor 1 As the plane within which rotor 1 is rotating (in the following designated “rotational plane of the rotor” and indicated in Fig. 4 by dashed line RP) will behave, on a short time basis, as a free gyro rotor it will maintain its angular position in space immediately after motor 5 has slewed a small angle ⁇ about an axis orthogonal to motor shaft 4.
  • rotor bar 15 is shown in that very moment of time when it is in the plane of the paper.
  • the angle ⁇ between the rotational plane of the rotor and an imaginary plane P1 orthogonal to motor shaft 4 will be referred to in the following as "the angular deviation of the rotational plane".
  • the rotational plane of the rotor should not, according to the invention, be inertially stabilized but travel slowly from a decentered position back to the central position perpendicular to motor shaft 4. This is accomplished by motor 5 being secured to the instrument casing at the same time as rotor 1 is dimensioned to exhibit a very low moment of inertia measured about the axis defined by wire 2. If at the same time plates 8 and 9 are suitably sized, with an area of the order of 1 square centimeter each, the viscous coupling between motor 1 and case 6 provided by the air within case 6 will have sufficient influence to bring about the desired centering of the rotational plane of the rotor.
  • the precessing back to the central position described above can be utilized as a possibility of target tracking. This is a great advantage as the centering takes place spontaneously; specific precessing devices are eliminated. This constitutes a preferred embodiment of the present invention. If the design parameters are selected such that the time constant of the centering process of the rotational plane of the rotor becomes about 1 second, the rotational plane of the rotor will behave, with respect to its angular position in space, in a manner which is also very suitable to the gimbaled optical part of image-stabilized binoculars. If the casing of the binoculars is turned at a certain limited angular speed the rotational plane of the rotor will participate, at a certain lag, in this turning movement, that is, target tracking occurs.
  • a purpose of the present invention is to enable in practice a larger angular deviation ⁇ , at least 5 degrees, of the rotational plane of the rotor than is possible to obtain by conventional oscillogyro mechanics.
  • image-stabilized binoculars there may occur in practice rapid oscillations of the casing in relation to inertial space of at least ⁇ 5 degrees, and as motor 5 is unstabilized and thus follows the oscillations of the casing, but the rotational plane of the rotor is inertially stabilized and thus isolated from rapid oscillations, also the rotational plane RP of the rotor has to be able to assume an angular deviation ⁇ of at least the same degree in relation to the unstabilized parts (e.g. motor 5).
  • this is carried out in such a way that an angular resilience is introduced between wire 2 and rotor 1.
  • This angular resilience enables rotor 1 to perform small angular movements (in practice ⁇ 1 degree) in relationship to wire 2 (and thus also in relation to motor shaft 4) in the rotational plane of the rotor, thus also permitting rotor 1 to rotate at a uniform angular speed in its rotational plane.
  • the simplest way in practice to introduce this angular resilience is to make the distance L (shown in Fig.
  • rotor 1 should be locked in a central position, i.e. at an angle of 90 degrees to motor shaft 4, before motor 5 is started, to be freed for tilting about wire 2 only when a certain rotational speed has been reached. If this condition is not satisfied there could be, in practice, a considerable angular deviation of the rotational plane of the rotor immediately after start, which is mostly undesirable.
  • Figs. 2a and 2b illustrating a possible mechanism for locking the rotor before start.
  • a locking clip 16 is pivotally carried in the base 17 and can tilt a small angle in relation to said base, which is rigidly connected with motor shaft 4.
  • a coiled spring 18 urges locking clip 16 towards rotor bar 15 (as shown in Fig.
  • Locking clip 16 is designed such that it will then contact rotor bar 15 on either side of wire 2, rotor 1 thus being locked in a centered position and prevented from tilting about wire 2.
  • motor 5 has reached a certain speed, but not full speed, after start, locking clip 16 is affected, by way of the weights 16a and 16b, by centrifugal force to tilt away from the position shown in Fig. 2a and remain in that shown in Fig. 2b, where rotor 1 is free to rock about wire 2.
  • Fig. 3 where bumpers in the form in soft stops 11, 12, 13 and 14 are shown. They are secured to case 6 and limit gently the rocking movement of rotor bar 15 about wire 2 when the binoculars are panned so swiftly that the viscous air coupling between rotor 1 and case 6 does not suffice for precessing rotor 1. Stops 11-14 also receives rotor 1 at shock acceleration in a direction parallel to motor shaft 4, possibly occurring if the instrument e.g. is dropped. If the shock acceleration occurs in a direction parallell to rotor bar 15 there must also be stops, as wire 2 is rather resilient also in this direction. These stops can be formed, for example, by the inside of case 6 which the ends of rotor bar 15 may contact. For shock acceleration in a direction parallel to wire 2 no stops are needed as leaf spring 3 and wire 2 can be dimensioned sufficiently strong to assume the force. By these tricks it is gained that the complete rotor mechanism becomes very shockproof.
  • motor shaft 4 should be forced, immediately upon start, to reach its proper speed as soon as possible which, if motor 5 is DC-operated, can be readily brought about by maintaining the motor 5 drive voltage on a higher than normal level immediately after start, to be then decreased to a constant, lower value when motor 5 has reached its proper speed.
  • Fig. 1 The only step that remains to be taken is to lock by way of a control system the angular position of the gimbaled optical part 19 to the angular position of the rotational plane of the rotor in order to accomplish the desired stability of the gimbaled part 19.
  • Two control systems have to be at hand which control the gimbaled part about two mutually perpendicular axes A1 and A2, orthogonal to the optical line-of-sight 35 of the instrument.
  • control systems viz., that operating about one of the axes A1 is described in detail here, as control about the second axis (A2) is exercised in the same manner.
  • An infrared light diod (LED) 22 emits short pulses of light, of the order of 100 microseconds/pulse, towards rotor 1 by way of a slot 23, which is parallel with the axis (A1) about which detection occurs.
  • Case 6 has to be transparent to the infrared light where this passes the wall of the case.
  • the light pulses are reflected by the plates 8 and 9 secured to rotor 1 (reflection by plate 8 is illustrated in Fig. 1), the plates being foiled and thus also acting as mirrors.
  • the light Upon reflection the light finally strikes an optical zero-detector 24, whose back side is visible in Fig. 1.
  • the light striking zero detector 24 is limited by slot 23 to a narrow band of a width adapted to the zero detector concerned.
  • the light will also strike mirror 8 as a band 25.
  • Light diode 22, slot 23 and zero detector 24 are all secured to the gimbaled optical part 19.
  • a zero voltage output from zero detector 24 can only occur when the light band 25 is centered on the middle of zero detector 24 which, in turn, can only occur when part 19 and the rotational plane RP of the rotor have a certain mutual angular orientation about axis A1. This is the situation when the gimbaled optical part is "locked" by way of the control system to the rotational plane of the rotor.
  • Actuator 26 can be designed optionally but it should not introduce friction.
  • a possible design is shown in Fig. 1, where a wire coil 27 is secured to the instrument casing and the U--shaped permanent magnet 28 is secured to the gimbaled optical part 19. An input voltage on coil 27 then gives rise to a force tending to rotate the gimbaled part 19 about the axis concerned (A1).
  • a light pulse from light diod 22 is to be emitted only at the time when case 6 and thus rotor 1 are in a position for indicating the relative angular position, about the axis concerned (A1), of optical part 19 and plane of rotation RP of the rotor. This occurs only twice per revolution, namely, when wire 2 is parallel with that axis (A1) about which the control system operates. Hence, in practice one light pulse is to be emitted when wire 2 is parallel with that axis about which the actuator 26 is able to turn optical part 19.
  • U3 is conveyed to a pulse generator 50 which emits, for each positive flank of U3, a voltage pulse of a length of the order of 100 uS, a pulsating voltage U then being obtained which controls, via an exciter 53, light diod 22 so as to emit light only when voltage U is high.
  • a pulse generator 50 which emits, for each positive flank of U3, a voltage pulse of a length of the order of 100 uS, a pulsating voltage U then being obtained which controls, via an exciter 53, light diod 22 so as to emit light only when voltage U is high.
  • the two indications 30 and 30a shown give rise to two voltage pulses U3 and thus two light pulses per revolution. To attain one light pulse only per revolution, one of the indications should be excluded.
  • the adding circuit 40 will be discussed later.
  • the control device described above only operates about one single axis (A1), which is orthogonal to the line-of-sight 35 of the instrument, but as stated above it is necessary, in order to bring about a complete image-stabilizing process, to add a second similar control device to attain stabilizing about all axes orthogonal to the line-of-sight 35 of the instrument.
  • this second control device operates in the same way as that described above but about an axis (A2) orthogonal to the first axis (A1), also this axis (A2) being orthogonal to the line-of-sight 35 of the instrument.
  • the position of the rotor is illustrated by dashed lines in the moment of time when light diod 57 is to emit a light pulse. The light from light diod 57 passes slot 32, is reflected by the mirror 8 of the rotor and strikes finally zero detector 33.
  • a second actuator capable of turning the stabilized optical part 19 about axis A2 will also be added.
  • the relative position of the gimbaled part 19 (in its centered position) and the oscillogyro need not be such as shown in Fig. 1, however, it must be seen to it that the light bands from light diods 22 and 57 never miss mirrors 8 and/or 9 in operation.
  • this optical part In the first place it could be desirable in certain instruments to stabilize the optical part about one axis only, orthogonal to the line-of-sight. In this case this optical part should be movable in relationship to the instrument casing about this axis only, and only one control system is then required.
  • a stabilizing system according to the invention should be possible to use without prejudice together with other types of instruments or apparatus where a body is inertially stabilized on a short time basis and, on a long time basis, connected to the instrument casing.
  • the gimbaled part 19 need not necessarily contain optics, a prerequisite up to now.
  • case 6 can be replaced by an optional gas which, having another viscosity than the air, could create, other conditions alike, a changed viscous coupling between rotor 1 and case 6 and thus a changed time constant for precessing of the rotational plane of the rotor back to the central position perpendicular to motor shaft 4.
  • an optional gas which, having another viscosity than the air, could create, other conditions alike, a changed viscous coupling between rotor 1 and case 6 and thus a changed time constant for precessing of the rotational plane of the rotor back to the central position perpendicular to motor shaft 4.
  • FIG. 9 Another coupling between rotor 1 and motor shaft 4, provided optionally and operating equivalently, can replace in whole or in part the viscous effect of the air enclosed within case 6.
  • leaf spring 3 is not shown.
  • a pin 44 mounted on rotor bar 48 extends through a very thin and resilient diaphragm 47 into a container 45 mounted on motor shaft 49 and containing a viscous liquid 46.
  • the two mirrors (8 and 9 on rotor 1) could suitably be replaced by one single mirror 43 mounted on the centre of rotor bar 48.
  • Mirror 43 only couples insignificantly to the air enclosed in case 34, for which reason the viscous coupling provided by pin 44 in container 45 is required in order to render possible centering of the rotational plane of the rotor and thus target tracking.
  • This also illustrates the fact that the rotor can be designed optionally within rather wide limits if only the mechanical parameters are selected such that the rotor behaves as desired.
  • Case 6 which according to the foregoing description has been mounted on motor shaft 4 and thus did participate in the rotation, can be replaced if desired by a stationary housing 34, also shown in Fig. 9, mounted on the motor. However, this is not recommended as disturbances caused by air turbulence can arise.
  • torsion wire 2 can be replaced by some other type of single axis bearing, for example, a conventional such bearing having crossed leaf springs.
  • the gimbaled optical part 19 is designed in such a way that it has to describe, for image stability, an angular movement proportional to the angular movement of the instrument casing.
  • a detection, finally producing U4 is then to take place of the mutual angle, between the gimbaled optical part and the instrument casing about the axis (A1, A2) under consideration.
  • a second optionally operating detector (not shown) is adapted to give rise to a voltage U6 which is proportional to the angular position of the gimbaled optical part about axis A3 in relation to the instrument casing.
  • motor 5 can be mounted relative to the instru- , ment casing by way of a soft coupling, e.g. a rubber damped coupling. This can be to advantage when it is desired to isolate the instrument casing against possible vibrations which can be transmitted from motor 5 if the rotating parts are not sufficiently balanced dynamically. This will in no way alter the function; what is essential is that motor 5 participates in the slow turning movements of the instrument casing, which makes target tracking possible.
  • a soft coupling e.g. a rubber damped coupling.
  • the gimbaled optical part 19 can very well be provided with a further bearing axis parallel to line-of-sight 35 to offer the possibility of turning part 19 small angles about said line 35 in relation to the instrument casing.
  • the control system described above will function also in this case if only it being seen to it that the gating in of the voltage from zero detector 24 via the sample and hold circuit always takes place at the proper time, in accordance with the rule given in the foregoing.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Light Control Or Optical Switches (AREA)
  • Adjustment Of Camera Lenses (AREA)
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Claims (13)

  1. Trägheitsstabilisierungsystem für ein Instrument, mit einem Instrumentengehäuse, einem schwenkbar in bezug auf das Gehäuse des Instruments angebrachten Körper (19), einem Schwingkreisel (1-6) als Stabilitätsbezugseinrichtung, wobei der Schwingkreisel dem Gehäuse auf solche Weise zugeordnet ist, daß die Längsachse des Antriebs (4) des Schwingkreisels im wesentlichen den Bewegungen des Gehäuses folgt, einer Detektoreinrichtung (22-24,57,32,33) zur Erfassung der Winkelposition der Drehebene (RP) des Rotors des Schwingkreisels, und einem Steuersystem zur Beeinflussung der Winkelposition des schwenkbar angebrachten Körpers (19) in Bezug auf das Gehäuse, entsprechend der erfaßten Winkelposition der Drehebene (RP).
  2. System nach Anspruch 1, bei welchem das System einen Teil eines bildstabilisierten optischen Instruments bildet, bei welchem der schwenkbar angebrachte Körper (19) zumindest einen Teil der Optik des Instruments enthält, und das Steuersystem den schwenkbar gehalterten Körper (19) auf solche Weise beeinflußt, daß der Körper um zumindest eine Achse (A1;A2) und in Bezug auf seine Winkelposition trägheitsstabilisiert wird, oder Winkelbewegungen proportional zu den Winkelbewegungen, jedoch getrennt hiervon, des Instrumentengehäuses beschreibt.
  3. System nach Anspruch 2, bei welchem der Rotor (1) und der Antrieb (4) des Schwingkreisels gegenseitig federelastisch angeordnet sind, so daß kleine gegenseitige Winkelbewegungen zwischen dem Rotor (1) und dem Antrieb (4) des Schwingkreisels zugelassen werden, im wesentlichen in einer Ebene orthogonal zur Längsachse des Antriebs (4) des Schwingkreisels, um die Stabilität der Drehebene (RP) des Schwingkreisels bei größeren Winkelabweichungen (α) der Drehebene (RP) wesentlich zu verbessern.
  4. System nach Anspruch 1, 2 oder 3, bei welchem der Rotor (1) des Schwingkreisels innerhalb eines Gehäuses (6;34) angeordnet ist, und eine Kopplung zwischen dem Rotor (1) und dem Antrieb (4) vorhanden ist, welche ein Moment zwischen dem Rotor (1) und dem Antrieb (4) um ein einzelnes Achsenlager (2) des Schwingkreisels erzeugt, wobei das Moment im wesentlichen proportional zur relativen Winkelgeschwindigkeit des Rotors (1) und des Antriebs (4) um das einzelne Achsenlager (2) des Schwingkreisels ist, und die Kopplung eine absichtliche Winkeländerung der Drehebene (RP) ermöglicht, und daher über das Steuersystem eine Winkeländerung des schwenkbar gehalterten Körpers (19), beispielsweise zur Zielverfolgung oder Verschwenkung.
  5. System nach Anspruch 4, bei welchem Luft oder Gas innerhalb des Gehäuses (6;34) zumindest den Hauptanteil der Kopplung zwischen dem Rotor (1) und dem Antrieb (4) des Schwingkreisels zur Verfügung stellt.
  6. System nach Anspruch 4, bei welchem das Steuersystem so ausgebildet ist, daß es eine konstante gegenseitige Winkelorientierung zwischen der Drehebene (RP) des Rotors und dem schwenkbar gehalterten Körper aufrecht erhält, zumindest um eine Achse (A1).
  7. System nach Anspruch 4, bei welchem das Gehäuse (6) dazu ausgebildet ist, an der Drehung des Antriebs (4) des Schwingkreisels teilzunehmen und dieser zu folgen.
  8. System nach Anspruch 4 oder 5, bei welchem das einzelne Achsenlager des Schwingkreisels aus einem unter Spannung gesetzten Torsionsdraht (2) besteht, der an beiden Seiten des Rotors befestigt ist, wobei die Entfernung zwischen den Befestigungspunkten ausreichend klein ist, um die Winkel-Federelastizität zwischen dem Rotor und dem Antrieb des Schwingkreisels zu erzeugen.
  9. System nach Anspruch 8, bei welchem die Fähigkeit des Rotors (1), sich in der Radialrichtung des Torsionsdrahtes (2) zu bewegen, durch Anschläge (11-14) begrenzt ist.
  10. System nach Anspruch 4, bei welchem ein Element (16) dazu ausgebildet ist, wenn sich der Antrieb (4) im Ruhezustand befindet, elastisch in Eingriff mit dem Rotor (1) zu gelangen und hierdurch den Rotor in einer zentrierten Position zu verriegeln, wobei nach dem Start des Schwingkreisels das Element (16) den Rotor bei einer vorbestimmten Anzahl an Umdrehungen pro Minute durch Wirkung der Zentrifugalkraft freigibt.
  11. System nach den Ansprüchen 1 bis 10, bei welchem die Detektoreinrichtung zumindest eine Lichtdiode (22) und einen Nulldetektor (24) aufweist, und wobei die Lichtdiode kurze Lichtimpulse aussendet, die von zumindest einer reflektierenden Oberfläche (8;9) auf dem Rotor reflektiert werden, um dann auf den Detektor (24) aufzutreffen.
  12. System nach Anspruch 11, bei welchem das Ausgangssignal (U1;U8) des Detektors (24;36) mit einer Sample-and-Hold-Schaltung (31) verbunden ist, deren Ausgangssignal frequzenzgefiltert und einem Betätigungsglied (26) zugeführt wird, welches dazu ausgebildet ist, die Winkelposition des schwenkbar angebrachten Körpers (19) zu beeinflussen.
  13. System nach Anspruch 1, bei welchem der Antrieb (4) den Rotor (1) über ein einzelnes Achslager (2) antreibt, zur Drehung um die Längsachse mit im wesentlichen konstanter Anzahl an Umdrehungen pro Minute, wobei die Längsachse des Antriebs (4) an den niederfrequenten Winkelbewegungen des Gehäuses in bezug auf den Trägheitsraum teilnimmt, wobei der Rotor (1) innerhalb eines Gehäuses (6;34) angeordnet ist, in welchem Luft oder Gas innerhalb des Gehäuses hauptsächlich an der Drehung des Antriebs teilnimmt, wobei eine Kopplung zwischen dem Rotor (1) und dem Antrieb (4) vorhanden ist, welche zwischen dem Rotor (1) und dem Antrieb (4) ein Moment hervorruft, das im wesentlichen proportional zur relativen Winkelgeschwindigkeit des Rotors (1) und des Antriebs (4) um das einzelne Achslager (2) ist, wobei eine Zentrierung der Drehebene (RP) des Rotors auf Langzeitbasis auftritt, infolge der Winkelverschiebung im Trägheitsraum, welcher die Drehebene (RP) infolge der Wirkung der Kopplung bei einer Winkelabweichung (α) ausgesetzt ist, und wobei eine wesentliche Erhöhung der Stabilität der Drehebene in bezug auf den Trägheitsraum über ein Winkelintervall der Winkelabweichung (α) durch die Eigenschaft erhalten wird, daß eine Winkel-Elastizität dazu ausgebildet ist, gegenseitige Winkelbewegungen zuzulassen, die für diesen Zweck ausreichend groß sind, und zwar zwischen dem Rotor (1) und dem Antrieb (4) des Schwingkreisels in der Ebene (RP), in welcher sich der Rotor (1) dreht.
EP90913263A 1989-08-23 1990-08-21 Stabilisierungssystem mit inertia Expired - Lifetime EP0487622B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE8902806 1989-08-23
SE8902806A SE467378B (sv) 1989-08-23 1989-08-23 Troeghetsstabiliseringssystem foer ett instrument
PCT/SE1990/000539 WO1991002997A1 (en) 1989-08-23 1990-08-21 Inertial stabilizing system

Publications (2)

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EP0487622A1 EP0487622A1 (de) 1992-06-03
EP0487622B1 true EP0487622B1 (de) 1995-04-05

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EP90913263A Expired - Lifetime EP0487622B1 (de) 1989-08-23 1990-08-21 Stabilisierungssystem mit inertia

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US (1) US5237450A (de)
EP (1) EP0487622B1 (de)
JP (1) JPH05500867A (de)
AU (1) AU6346790A (de)
DE (1) DE69018472T2 (de)
SE (1) SE467378B (de)
WO (1) WO1991002997A1 (de)

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Also Published As

Publication number Publication date
SE467378B (sv) 1992-07-06
SE8902806D0 (sv) 1989-08-23
JPH05500867A (ja) 1993-02-18
DE69018472T2 (de) 1995-12-07
SE8902806L (sv) 1991-02-24
DE69018472D1 (de) 1995-05-11
AU6346790A (en) 1991-04-03
EP0487622A1 (de) 1992-06-03
US5237450A (en) 1993-08-17
WO1991002997A1 (en) 1991-03-07

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